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A simple and adaptive on-line path planning system for a UAV

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3 Author(s)
Ducard, G. ; ETH Zurich, Zurich ; Kulling, K.C. ; Geering, H.P.

This paper presents a guidance algorithm for an unmanned aerial vehicle (UAV). It combines a nonlinear lateral guidance control law, originally designed for UAVs tracking circles for mid-air rendezvous, with a new simple adaptive path planning algorithm. Preflight path planning only consists of storing a few way points guiding the aircraft to its targets. The paper presents an efficient way to model no-fly zones, to generate a path in real-time to avoid known or "pop-up" obstacles, and to reconfigure the flight path in the event of reduced aircraft performance. Simulation results show the good performance of this reconfigurable guidance system which, moreover, is computationally efficient.

Published in:

Control & Automation, 2007. MED '07. Mediterranean Conference on

Date of Conference:

27-29 June 2007